If the Cisco PIX is configured as a DHCP server, then yes, you should be able to configure your client workstations to obtain an IP address dynamically from the server itself.
Here's an example from the Cisco site on how to configure a DHCP server on the Cisco PIX -
http://www.cisco.com/en/US/products/hw/vpndevc/ps2030/products_configuration_example09186a00806c1cd5.shtml.
Hope this helps...
Mike